<p dir="ltr">Autonomous robots can perform dangerous and tedious tasks, eliminating the need for human involvement. To deploy an autonomous robot in the field, a typical planning and control hierarchy is used, consisting of a high-level planner, a mid-level motion planner, and a low-level tracking controller. In applications such as simultaneous localization and mapping, package delivery, logistics, and surveillance, a group of autonomous robots can be more efficient and resilient than a single robot. However, deploying a multi-robot team by directly aggregating each robot's planning hierarchy into a larger, centralized hierarchy faces challenges related to scalability, resilience, and real-time computation. Distributed algorithms offer a promising solution for introducing effective coordination within a network of robots, addressing these issues. This thesis explores the application of distributed algorithms in multi-robot systems, focusing on several essential components required to enable distributed multi-robot coordination, both in general terms and for specific applications.</p>
| Identifer | oai:union.ndltd.org:purdue.edu/oai:figshare.com:article/26153221 |
| Date | 02 July 2024 |
| Creators | Zehui Lu (18953791) |
| Source Sets | Purdue University |
| Detected Language | English |
| Type | Text, Thesis |
| Rights | CC BY-NC-SA 4.0 |
| Relation | https://figshare.com/articles/thesis/Distributed_Algorithms_for_Multi-robot_Autonomy/26153221 |
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